Speed planning method and apparatus and calculating apparatus for automatic driving of vehicle

ABSTRACT

A speed planning method and apparatus and a calculating apparatus for automatic driving of a vehicle. The method comprises: using a training sample set to perform machine learning to obtain a machine learning model (S 110 ); partitioning an input space, and obtaining a decision result corresponding to a determined partition based on the obtained machine learning model to form a partition decision table of each partition corresponding to the corresponding decision result (S 120 ); and obtaining each dimensional feature vector of a vehicle while driving in real time as an input feature, determining an input partition to which the input feature belongs, and querying the partition decision table based on the determined partition to obtain the corresponding decision result (S 130 ). The present disclosure effectively solves the problem that a model trained by means of machine learning cannot be locally adjusted and easily modifies the decision of a certain partition without affecting the decision results of other partitions at all. The intuitive nature of a partition decision table can effectively help to find and solve problems in the machine learning process. The partition decision table can speed up the decision process.

TECHNICAL FIELD OF THE INVENTION

The present disclosure relates to the field of vehicle control, inparticular to a speed planning method and apparatus and a calculatingapparatus for automatic driving of a vehicle.

BACKGROUND OF THE INVENTION

With the development of vehicle technology, automatic driving ofvehicles has become a hot research field. Speed planning and control isan important research subject in automatic driving, the primary goal ofwhich is to plan an estimated speed of a vehicle at a series ofsubsequent time instants according to a detected state (e.g., a currentspeed, a speed of a front vehicle, and a distance from a front vehicle),and to calculate final control parameters (e.g., an accelerator and abreak) of the vehicle to actually control the vehicle. Speed planningneeds to ensure absolute safety of passengers when other vehicles haveunexpected behaviors (e.g., sudden braking) while ensuring the basiccomfort and safety of the passengers.

To deal with various possible situations, it needs to design a complexspeed planning and control model. Some rare circumstances and factorsare very likely to be left out in manual design and implementation. Atthe same time, very rich and mature driving data can be acquired from avehicle driven by a driver. Since a machine learning method can easilylearn a model from the data, the machine learning method is increasinglyapplied to the speed planning and control. In addition, in the realworld, different drivers have different driving habits and definitionsof safety and comfort. Therefore, if the same planning and controlmethod is used, it is difficult to meet various different needs, whilethe machine learning method can well adapt to personalized drivinghabits.

SUMMARY OF THE INVENTION

Through long-term research, the inventors of the present invention haverecognized that the application of machine learning to speed planningfor vehicles suffers from several disadvantages.

First, the effectiveness of the model learned through the machinelearning method is directly related to the training data. Since a drivertypically drives in a very comfortable range, it is difficult to collecttraining data that cover all possible scenarios (e.g., extremesituations such as extremely high speed and a very short distance fromthe front vehicle). Although the problem can be solved by thetechnologies of generalization and the like, it cannot be solvedentirely. Also, the collected driver's behaviors may not fully meet therequirements for comfort and safety. For example, some drivers cannotensure the distance from the front vehicle. Therefore, when the frontvehicle suddenly brakes, the driven vehicle can hardly guaranteecompletely braking without colliding with the front vehicle. Obviously,the model trained using such data cannot handle this situation as well.

Another problem with machine learning is that it is difficult to locallyadjust the model trained in this way. Applications of planning andcontrol to automatic driving may often require the model to be locallyadjusted for a particular situation. For the model obtained by machinelearning, the adjustment of each parameter learned may bring aboutoverall uncontrollable influence. The model can also be modified byadding more training samples, but such a method has a longer period andthe model finally trained is not fully predictable.

The object of the present disclosure is to overcome the disadvantagesand shortcomings in the prior solutions and to propose a new speedplanning method and apparatus and a calculating apparatus for automaticdriving of a vehicle.

According to an aspect of the present disclosure, a speed planningmethod for automatic driving of a vehicle is provided, the methodincluding:

first, a machine learning step, comprising: performing machine learningusing a set of training samples to obtain a machine learning model,wherein each of the training samples is represented by amulti-dimensional feature vector forming an input space and a decisionresult forming an output space, wherein each dimension of themulti-dimensional feature vector comprises a variable representative ofa state of the vehicle at a particular moment, wherein the variable isrelated to speed planning, and wherein the decision result indicates anexpected speed at a next moment and/or a control parameter value relatedto speed control;

second, a partition decision table obtaining step, comprising: dividingthe input space into partitions, and obtaining a decision resultcorresponding to a respective partition of the partitions based on theobtained machine learning model to form a partition decision table thatmaps each of the partitions to its corresponding decision result; and

Further, a real-time decision-making step, comprising: obtaining eachdimensional feature vector of a driving vehicle in real time as an inputfeature, determining an input partition to which the input featurebelongs, and querying the partition decision table based on thedetermined input partition to obtain a corresponding decision result.

Further, the speed planning method may further include a real-timecontrol step, comprising issuing a control command to the vehicle basedon the obtained decision result, thereby controlling the speed of thevehicle.

Further, in the real-time control step, when the decision result of thedetermined partition is determined as not conforming to an expectation,the partition decision result of the partition can be adjusted.

Further, the partition decision result of the partition can be adjustedbased on experience, or by learning the partition with a machinelearning method.

Further, each dimensional feature vector may include a current speed, adistance from a front vehicle, a relative speed with respect to thefront vehicle and a maximum speed.

Further, a feature space may be coded using discrete coding before themachine learning step.

Further, according to the speed planning method of embodiments of thepresent disclosure, the discrete coding method may be tiling coding, inwhich each feature vector may be coded using tiling coding having onetiling, and the dimension in which each feature vector is located isdivided into preferred 7-13 intervals to partition the input space.

Further, in the partition decision table obtaining step, a size of aspace corresponding to the discrete coding result obtained by thediscrete coding method may be calculated first. When the size of thespace is greater than a determined threshold, a dynamic storage methodis used to store the partition decision table, wherein only the input ofthe training space is traversed, wherein the output result of acorresponding decision model is stored, and wherein the trained decisionmodel is stored for backup in addition to the partition decision table.When the size of the space is smaller than the determined threshold, astatic storage method is used to store the partition decision table,wherein all code spaces are traversed, and wherein the output result ofthe decision model is stored.

Further, in the real-time decision-making step, discrete coding is firstperformed on the input feature using the discrete coding method toobtain a discrete coding result. The obtained discrete coding result isthen used as an index of the partition decision table. When thepartition decision table is stored using the static storage method, thedecision result stored in the partition decision table may be directlyobtained.

Further, in the real-time decision-making step, discrete coding is firstperformed on the input feature using the discrete coding method, theobtained discrete coding result is then used as an index of thepartition decision table. When the partition decision table is storedusing the dynamic storage method, if the decision result of the discretecoding result is stored in the partition decision table, the decisionresult may be directly obtained from the partition decision table. Ifthe decision result of the discrete coding result is not stored in thepartition decision table, the stored decision model is used to obtain adecision result, and the obtained decision result is added to thepartition decision table.

Further, the machine learning method may be a supervised learningmethod, an unsupervised learning method, or a reinforcement learningmethod.

Further, when discrete coding is performed on the feature space, twoinputs may be regarded as belonging to the same partition as long as thefinal discrete codes of the two inputs are identical.

Further, the discrete coding method may include various coarse codingmethods, such as tile coding.

Further, in the real-time control step, the number of partitions ofwhich the partition decision results are adjusted needs to be determinedafter the partition decision result of the partition is adjusted, andwhen the number of partitions exceeds a predetermined threshold, themachine learning step and the partition decision table obtaining stepshould be re-executed.

According to another aspect of the present disclosure, a speed planningapparatus for automatic driving of a vehicle is provided, the apparatusincluding a machine learning unit, a partition decision table obtainingunit, and a real-time decision-making unit. Optionally, the speedplanning apparatus may further include a real-time control unit.

The machine learning unit may be configured to perform machine learningusing a set of training samples to obtain a machine learning model,wherein each of the training samples may be represented by amulti-dimensional feature vector forming an input space and a decisionresult forming an output space, wherein each dimension of themulti-dimensional feature vector is a variable that can be used todescribe a state of the vehicle at a particular moment and related tospeed planning, and wherein the decision result may indicate an expectedspeed at a next moment and/or a control parameter value related to speedcontrol.

The partition decision table obtaining unit is configured to partitionthe input space, and obtain a decision result corresponding to adetermined partition based on the obtained machine learning model toform a partition decision table that maps each partition to itscorresponding decision result.

The real-time decision-making unit is configured to obtain eachdimensional feature vector of a driving vehicle in real time as an inputfeature, determine an input partition to which the input featurebelongs, and query the partition decision table based on the determinedpartition to obtain a corresponding decision result.

The real-time control unit is configured to issue a control command tothe vehicle based on the obtained decision result, thereby controllingthe speed of the vehicle.

Further, the real-time control unit is further configured to adjust thepartition decision result of the partition in the real-time control stepwhen the decision result of the determined partition is determined asnot conforming to an expectation.

Further, the partition decision table obtaining unit is furtherconfigured to adjust the partition decision result of the partitionbased on experience, or by learning the partition using a machinelearning method.

Further, the real-time decision-making unit is further configured suchthat each dimensional feature vector may include a current speed, adistance from a front vehicle, a relative speed with respect to thefront vehicle and a maximum speed.

Further, the speed planning apparatus for automatic driving of a vehicleaccording to the present disclosure further includes a discrete codingunit configured to perform discrete coding on the training samples andthe input feature at the real-time decision stage.

Further, according to the speed planning apparatus of the embodiment ofthe present disclosure, the discrete coding method used by the discretecoding unit is tiling coding, in which each feature vector is coded withtiling coding having only one tiling, and the dimension in which eachfeature vector is located is divided into 7-13 intervals to partitionthe input space.

Further, the partition decision table obtaining unit is configured tocalculate a size of a space of the discrete coding result obtained bythe discrete coding method; when the size of the space is greater than adetermined threshold, a dynamic storage method is used to store thepartition decision table, wherein only the input of the training spaceis traversed, wherein the output result of the corresponding decisionmodel is stored, and the trained decision model is also stored forbackup; and when the space is smaller than the determined threshold, astatic storage method is used to store the partition decision table,wherein all code spaces are traversed, and wherein the output result ofthe decision model is stored.

Further, the real-time decision-making unit is configured to performdiscrete coding on the input feature using a discrete coding method, usethe obtained discrete coding result as an index of the partitiondecision table, and when the partition decision table is stored usingthe static storage method, directly obtain the decision result stored inthe partition decision table.

Further, the real-time decision-making unit is configured to performdiscrete coding on the input feature using the discrete coding method,use the obtained discrete coding result as an index of the partitiondecision table, and when the partition decision table is stored usingthe dynamic storage method, if the decision result of the discretecoding result is stored in the partition decision table, directly obtainthe decision result from the partition decision table; and if thedecision result of the discrete coding result is not stored in thepartition decision table, use the stored decision model to obtain adecision result, and add the obtained decision result to the partitiondecision table.

Further, the machine learning method may be a supervised learningmethod, an unsupervised learning method, or a reinforcement learningmethod.

Further, the partition decision table obtaining unit is configured suchthat two inputs belong to the same partition as long as the finaldiscrete codes of the two inputs are identical.

Further, the discrete coding method may include various coarse codingmethods, such as tile coding.

Further, a feedback unit is configured to determine the number ofpartitions of which the partition decision results are adjusted, andtrigger the machine learning unit and the partition decision tableobtaining unit to perform the machine learning operation and thepartition decision table obtaining operation again when the number ofthe partitions exceeds a predetermined threshold.

According to another aspect of the present disclosure, provided is acalculating apparatus for speed planning of automatic driving of avehicle, including a storage component and a processor, wherein thestorage component stores a computer executable instruction set, and whenthe computer executable instruction set is executed by the processor,the following steps are performed: a machine learning step, comprising:performing machine learning using a set of training samples to obtain amachine learning model, each of the training samples being representedby a multi-dimensional feature vector forming an input space and adecision result forming an output space, each dimension of themulti-dimensional feature vector being a variable that can be used todescribe a state of the vehicle at a particular moment and related tospeed planning, and the decision result indicating an expected speed atnext moment and/or a control parameter value related to speed control; apartition decision table obtaining step, comprising: partitioning theinput space, and obtaining a decision result corresponding to adetermined partition based on the obtained machine learning model toform a partition decision table that maps each partition to itscorresponding decision result; a real-time decision-making step,comprising: obtaining each dimensional feature vector of the vehiclewhile driving in real time as an input feature, determining an inputpartition to which the input feature belongs, and querying the partitiondecision table based on the determined partition to obtain thecorresponding decision result; and a real-time control step, issuing acontrol command to the vehicle based on the obtained decision result,thereby controlling the speed of the vehicle.

The speed planning method and apparatus and the calculating apparatusprovided in the present disclosure use the partition decision tabletechnology that are suitable for the automatic driving technology forvehicles, and thus effectively solve the problem that a model trained bymeans of machine learning cannot be locally adjusted, and can easilymodify the decision of a certain partition without affecting thedecision results of other partitions at all so as to accomplish localadjustment. The intuitive nature of the partition decision table caneffectively help to find and solve the problems in the machine learningprocess. The partition decision table can speed up the decision process,and querying the partition decision table can obtain a higher decisionmaking speed.

BRIEF DESCRIPTION OF THE DRAWINGS

These and/or other aspects and advantages of the present disclosure willbecome clearer and be understood more easily from the following detaileddescription of the embodiments of the present disclosure in combinationwith the accompanying drawings, in which:

FIG. 1 is a generalized flowchart of a speed planning method forautomatic driving of a vehicle according to an embodiment of the presentdisclosure;

FIG. 2 is an example diagram schematically showing an operation process,and input and output of machine learning training and application;

FIG. 3 is an exemplary diagram of an operation process, input and outputof machine learning training and application processed by discretecoding before a machine learning method is applied;

FIG. 4 shows a tile coding discrete coding method in the coarse codingcategory;

FIG. 5 shows an establishment and optimization process of an entiredecision partition table in the case of discrete coding according to anembodiment of the present disclosure;

FIG. 6 shows a flowchart of a method of implementing a real-timedecision-making step according to an embodiment of the presentdisclosure;

FIG. 7 shows a flowchart of a speed planning control method 700including a real-time control step according to an embodiment of thepresent disclosure; and

FIG. 8 is a block diagram of a speed planning apparatus 800 forautomatic driving of a vehicle according to an embodiment of the presentdisclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In order that those skilled in the art better understand the presentdisclosure, the present disclosure will be further described in detailbelow in combination with the accompanying drawings and specificembodiments.

Before the detailed description, the general idea of the presentdisclosure will be introduced first, so that those skilled in the artcan grasp the present disclosure.

As mentioned above, the inventors discovered by implementation andanalysis that machine learning relied heavily on training data. Thelimitation of the training data may result in several issues, such asthat the trained model cannot handle some actual emergencies, that localslight adjustment is difficult to implement, and that the overalladjustment period is long and the effects are unpredictable. To addressthese issues, the inventors proposed to train machine learning modelsand apply the trained machine learning models in respective processes.During the training of the machine learning models, we use a typicalmachine learning method for training. Before the application of thesetrained machine learning, the input space is divided into multiplepartitions, and the decision results in the models are stored indifferent partitions to form a partition decision table organized bypartition. Thus, the decision-making process of applying the models istransformed into a process of querying the partition decision table. Assuch, the decision of a partition can be modified easily withoutaffecting the decision results of other partitions at all, thusaccomplishing local adjustment. Meanwhile, the intuitive nature of thepartition decision table can effectively help to find and solve problemspresented in the machine learning process. The partition decision tablecan speed up the decision-making process, and querying the partitiondecision table can obtain a higher decision making speed. For automaticdriving speed planning with high real-time requirements, it is importantto adjust a local strategy easily and have a high decision making speed.

An example of an automatic vehicle driving method according to anembodiment of the present disclosure will be described below inconnection with FIG. 1. FIG. 1 shows a generalized flowchart of a speedplanning method for automatic driving of a vehicle according to anembodiment of the present disclosure.

In step S110, a machine learning step is performed. The machine learningis performed using a set of training samples to obtain one or moremachine learning models. Each of the training samples may be representedby a multi-dimensional feature vector forming an input space and adecision result forming an output space. Each dimension of themulti-dimensional feature vector may be a variable representative of astate of the vehicle at a particular moment. The variable may be relatedto speed planning. The decision result may indicate an expected speed ata next time instance and/or a value of a control parameter related tospeed control. After step S110, step S120 is performed.

In step S120, a partition decision table obtaining step is performed.The input space is divided into a plurality of partitions. Decisionresults corresponding to the partitions are obtained based on theobtained machine learning model(s). A partition decision table isconstructed. The partition decision table may map each of the partitionsto its corresponding decision result.

In step S130, a real-time decision is made. Each dimensional featurevector of a driving vehicle is obtained in real time as an inputfeature. An input partition to which the input feature belongs isdetermined. A corresponding decision result is obtained by querying thepartition decision table based on the determined input partition.

In some embodiments of the present disclosure, the training andapplication of the machine learning model(s) are processed respectively.During the training of the machine learning model, models are trainedaccording to general training cases collected in advance. The specificmachine learning method may be supervised learning that requires dataannotation, unsupervised learning that does not require data annotation,reinforcement learning, etc. In contrast to the conventional techniques,before application of these trained models, the input space is dividedinto multiple partitions according to a discrete coding method duringthe training. Also the decision results in the models are stored indifferent partitions to form a partition-organized decision table.Therefore, the speed planning method for automatic driving of a vehicleaccording to embodiments of the present disclosure converts adecision-making process by application of models into a process ofquerying the partition decision table.

For ease of understanding, FIG. 2 schematically illustrates an examplediagram of an operation process, including input and output of machinelearning training and application.

As shown in FIG. 2, machine learning 220 is performed on each of inputtraining cases (training samples) 210 to obtain a decision model 230. Aninput space 240 is divided into partitions. A partition decision table250 is obtained based on the partitions and the decision model.

When a decision is made using the partition decision table, a receivedinput 270 is first partitioned 240. A partition to which the receivedinput belongs is determined. The partition decision table 250 is thenqueried to obtain a corresponding decision result. As an example ofpartitioning, a partition of continuous dimensions, for example, can bedivided based on empirical knowledge of vehicle control experts.

As an example, prior to applying the machine learning method, the inputspace may be discretized using a coding method to extract features forprocessing. The discrete coding method naturally divides the continuousinput space into multiple partitions. A partition as referred to hereinis not limited to a partition of a continuous space of the samedimensional data. Two samples may be regarded as belonging to the samepartition when the samples may be encoded into the same coded data. Inother words, the partitions referred to herein are not necessarilycontinuously divided according to the original space. Rather, thepartitions may be divided according to results of discrete coding. FIG.3 shows a schematic diagram of a process, input and output of machinelearning training and application processed by discrete coding before amachine learning method is applied, wherein an input, such as a trainingexample or an application example, is processed by discrete coding 380.

FIG. 4 shows a tile coding as an example of a discrete coding method,which is a form of coarse coding. In a two-dimensional input space asshown in FIG. 4, three tilings at different positions divide the entireinput space into different sub-areas. These sub-areas can be used aspartitions.

As an example, the input space may comprise four dimensionscorresponding to a current speed, a distance from a front vehicle, arelative speed with respect to the front vehicle, and a maximum speed,respectively. It should be noted that the front vehicle as referred toherein is a broad concept and is not limited to a vehicle. When there isno object in front, the front vehicle can be virtual, and a distance anda relative speed from the virtual front vehicle may be set. The maximumspeed may be the highest driving speed under various conditionlimitations (such as road limitations, weather condition limitations,etc.). Therefore, the code space for speed planning and control in thefield of automatic driving is usually small, and is thus more suitablefor partitioning.

An example in accordance with an implementation proposed by theinventors comprises: coding each dimension of the input using tilingcoding having one tiling, and dividing each dimension of the input intoabout 10 partitions. This may well meet the speed decision requirementsof automatic driving. For example, a dimension of the inputcorresponding to the maximum speed may be partitioned, based on apartition size of 10 km/h and/or actual situations, into 12 partitionsincluding [0, 10, 20, 30, 40, 50, 60, 70, 80, 90, 100, 110, 120]. Thenumber of the partitions at this time may be about 10⁴. It is easy tostore and process a partition table of such size by a computer. In someextreme cases (e.g., a large number of input dimensions or a largediscrete code output space), the final code space may exceed the storagecapacity of the computer. In such cases, actual inputs from the realworld may be very sparse. As a result, the partition decision table canbe dynamically stored and processed using a hash table or other methodsthat save storage space.

A process of constructing and optimizing an entire decision partitiontable in the case of discrete coding according to an embodiment of thepresent disclosure will be described below with reference to FIG. 5.This process can be used to perform step S120 shown in FIG. 1. It shouldbe noted that the threshold in FIG. 5 may be set according to thestorage space of a machine. It should be noted that this is only anexample, and that discrete coding does not have to be performed on thetraining samples before machine learning training. As shown in FIG. 5,in step S510, a size of a space of a discrete coding result of themachine learning method is calculated.

In step S520, whether the space size is greater than a threshold isdetermined. When the result of the determination in step S520 isnegative, the process may proceed to step S530, wherein the partitiondecision table is statically stored. All code spaces are traversed. Theoutput result of the decision model is stored. Alternatively, when theresult of the determination is positive, the process may proceed to stepS540, where the partition decision table may be stored using hash tablesor any other dynamic storage method. The input of the training space istraversed. The output result of the corresponding decision model isstored. Next, the process may proceed to step S550, where the traineddecision model may be stored for backup in addition to the partitiondecision table. It needs to be noted that, when the partition decisiontable is dynamically stored, an entry corresponding to the training setcan be added in advance to reduce the overhead of dynamic tableconstruction in subsequent dynamic applications. Entries correspondingto other input sets may also be added, or no entry is added, but anentry is dynamically added when needed later. At this time, sincedecision entries are required to be dynamically interpolated later, thedecision model obtained by machine learning is also required to bestored in addition to the initial partition decision table, as shown instep S550.

An example process for performing the real-time decision-making stepS130 according to an embodiment of the present disclosure will bedescribed below with reference to FIG. 6. It may be assumed here thatthe input is processed by the discrete coding method, and that thepartition decision table is constructed and stored by the method shownin FIG. 5. As shown in FIG. 6, in step S610, an input is coded using adiscrete coding method. The input here may be a current speed, adistance from a front vehicle, a relative speed with respect to thefront vehicle, and a maximum speed obtained in real time during theautomatic driving process of the vehicle. However, these are onlyexamples, and the input dimensions and specific features may varyaccording to the speed planning method.

In step S620, a result of the discrete coding is used as an index of thepartition, and the partition decision table is queried.

When the partition decision table is stored using the static storagemethod or stored using the dynamic storage method but stores thedecision result of the discrete coding result, the decision result canbe directly obtained from the partition decision table. Otherwise, whenthe partition decision table is stored using the dynamic storage methodand does not store the decision result of the discrete coding result,the decision result cannot be directly obtained from the partitiondecision table.

In step S630, whether a decision result may be obtained is determined.If the answer is “Yes”, the process may proceed to step S650 and mayreturn the decision result. Alternatively, if the answer is “NO”, theprocess may proceed to step S640 and may use the stored decision modelto obtain a decision result and may add the obtained decision result tothe partition decision table. Step S650 may then be performed.

It should be noted that FIG. 6 is an example of a decision-makingprocess in some embodiments in which discrete coding is performed andstatic storage or dynamic storage is used as described above. However,this is merely an example, and is not a limitation of the presentdisclosure. In some embodiments in which discrete coding is notperformed, the process of making a decision using the partition decisiontable may be different. For example, the partition to which the inputbelongs may be directly determined according to the input. The partitiondecision table may then be queried to obtain the decision result. In thecase that the decision result is not obtained by querying the partitiondecision table, but the decision model is stored, the stored decisionmodel may be used to obtain the decision result. Alternatively, afeedback may be provided to indicate that the decision result cannot begiven, etc.

According to the speed planning method of the embodiment of the presentdisclosure, when the decision result of the determined partition isdetermined as not to conform to an expectation, the partition decisionresult of the partition can be quickly adjusted. The method does notneed to modify the training sample set or adjust the training parametersfor retraining. Nor does the method need to adjust the parameters of thetrained model. Rather, the method only needs to modify the decisionresult of the corresponding partition on the partition decision table toensure that the adjustment is limited to this partition withoutaffecting the decision results on other partitions.

In particular, methods for adjusting the partition decision result mayinclude adjusting the partition decision result of the partition basedon experience, by learning the partition using a machine learningmethod, etc. For example, when a current speed is 10 km/h, a distancefrom the front vehicle is 200 m, a speed relative to a front vehicle is5 km/h, a maximum speed is 30 km/h and the speed control is abnormal,the response of an experienced driver in this case can be referred toand converted into a corresponding decision result, and the decisionresult is stored in a decision entry corresponding to the interval towhich the input belongs. Data can also be collected from many driverswhile driving, and all decision results corresponding to the input spacemay be collected to obtain a desired decision result by induction orsimple machine learning.

In one example, after the decision result is obtained, a real-timecontrol step is performed to issue a control command to the vehiclebased on the obtained decision result, thereby controlling the speed ofthe vehicle. FIG. 7 shows a flowchart of a speed planning control method700 including a real-time control step according to an embodiment of thepresent disclosure. Steps S710-S730 in FIG. 7 are similar to stepsS110-S130 shown in FIG. 1, and the difference lies in adding a real-timecontrol step S740, that is, issuing a control command to the vehiclebased on the obtained decision result to control the speed of thevehicle.

It should be noted that the real-time control is executed here accordingto the speed planning decision result, which is not an exclusivecontrol, but can be combined with other control strategies (e.g.,steering control, etc.) of automatic driving to comprehensively controlthe vehicle.

According to a preferred embodiment of the present disclosure, when thedecision results of one or more certain partitions are found not toconform to the exception, the partition decision results of the certainpartitions may be adjusted and the number of partitions may bedetermined after the partition decision results of the partitions areadjusted. When the number of the partitions exceeds a predeterminedthreshold, the overall training step and the machine learning may bere-executed to obtain a new decision model, and partitioning may beperformed again. That is, step S110 to step S130 shown in FIG. 1, i.e.,the machine learning step and the partition decision table obtainingstep, can be re-executed based on the feedback results. When the machinelearning is re-executed, better machine learning can be obtained bymodifying the training parameters, adding corresponding training casesand other methods based on the feedback of the application decisionresult.

According to another embodiment of the present disclosure, a speedplanning apparatus for automatic driving of a vehicle is provided. Thespeed planning apparatus, as will be described below in conjunction withFIG. 8, including a machine learning unit 810, a partition decisiontable obtaining unit 820, and a real-time decision-making unit 830.Optionally, a real-time control unit 830 may also be included.

The machine learning unit 810 may be configured to perform machinelearning using a set of training samples to obtain a machine learningmodel. Each of the training samples may be represented by amulti-dimensional feature vector feature vector forming an input spaceand a decision result forming an output space. Each dimension of themulti-dimensional feature vector may be a variable describing a state ofthe vehicle at a particular moment. The variable may be related to speedplanning. The decision result may indicate an expected speed at a nextmoment and/or a control parameter value related to speed control.

The partition decision table obtaining unit 820 may be configured topartition the input space, and obtain a decision result corresponding toa determined partition based on the obtained machine learning model toform a partition decision table. The partition decision table may mapeach of the partitions to its corresponding decision result.

The real-time decision-making unit 830 may be configured to obtain eachdimensional feature vector of the vehicle in real-time while the vehicleis driving as an input feature, determine an input partition to whichthe input feature belongs, and query the partition decision table basedon the determined partition to obtain a corresponding decision result.

The real-time control unit 840 is configured to issue a control commandto the vehicle based on the obtained decision result to control thespeed of the vehicle.

In one example, the speed planning apparatus may further include a localpartition decision adjustment unit configured to adjust the partitiondecision result of the partition when the decision result of thedetermined partition is determined as not conforming to the expectation.

When the local partition decision adjustment unit adjusts the partitiondecision content of the partition, the partition decision content of thepartition may be adjusted according to experience. Alternatively, thepartition may be learned by a machine learning method, and the partitiondecision result of the partition may be adjusted.

In one example, the speed planning apparatus further includes a discretecoding unit configured to perform discrete coding on the trainingsamples and the input feature at the real-time decision stage.

The final code space is usually small, e.g., in the speed planning andcontrol when an automatic cruise system is implemented, the input mayhave only four dimensions: a current speed, a distance from a frontvehicle, a relative speed with respect to the front vehicle, and amaximum speed. The discrete coding method preferably used by thediscrete coding unit is tiling coding. The tiling coding having only onetiling codes each input dimension, and divides each input dimension intopreferred 7-13 intervals to well meet the speed decision requirements ofautomatic driving.

In some extreme cases (e.g., a great number of input dimensions or alarge discretized code output space), the final code space may exceedthe storage space of the computer, so the partition decision tableobtaining unit 820 is also configured to calculate a size of a spacecorresponding to a discrete coding result obtained by the discretecoding method.

When the size of the space of the discrete coding result obtained by thepartition decision table obtaining unit 820 using the discrete codingmethod is greater than the determined threshold, a dynamic storagemethod may be used to store the partition decision table. The input ofthe training space is traversed. The output result of the correspondingdecision model is stored, and the trained decision model is also storedfor backup.

Correspondingly, the real-time decision-making unit 830 of the presentdisclosure is configured to perform discrete coding on the input featureusing the discrete coding method, and then use the obtained discretecoding result as an index of the partition decision table. Since thepartition decision table is stored using the dynamic storage method, ifthe decision result of the discrete coding result is stored in thepartition decision table, the decision result may be directly obtainedfrom the partition decision table. If the decision result of thediscrete coding result is not stored in the partition decision table,the stored decision model may be used to obtain a decision result. Theobtained decision result may be added to the partition decision table.

When the space of the discrete coding result discrete coding calculatedby the partition decision table obtaining unit 820 using the discretecoding method is smaller than the determined threshold, a static storagemethod may be used to store the partition decision table. All the codespaces may be traversed. The output result of the decision model may bestored.

Correspondingly, the real-time decision-making unit 830 of the presentdisclosure is configured to perform discrete coding on the input featureusing the discrete coding method, and then use the obtained discretecoding result as an index of the partition decision table. Since thepartition decision table is stored using the static storage method, thedecision result stored in the partition decision table can be directlyobtained.

The machine learning method used by the machine learning unit 810 may bea supervised learning method, an unsupervised learning method, or areinforcement learning method.

The partition decision table obtaining unit 820 is configured such thattwo inputs are regarded as belonging to the same partition as long asthe final discrete codes of the two inputs are identical.

The discrete coding method used by the discrete coding unit may beselected from various coarse coding methods, such as tile coding.

In one example, the speed planning apparatus 800 may further include afeedback unit configured to determine the number of partitions of whichthe partition decision results are adjusted after the partition decisionresults of the partitions are adjusted when the decision results of somepartitions are determined as not conforming to the expectation, andtrigger the machine learning unit 810 and the partition decision tableobtaining unit 820 to perform the machine learning step and thepartition decision table obtaining step again when the number of thepartitions exceeds a predetermined threshold.

Another embodiment of the present disclosure also provides an apparatusfor calculating speed planning of automatic driving of a vehicle,including a storage component and a processor, wherein the storagecomponent stores a computer executable instruction set, and when thecomputer executable instruction set is executed by the processor, thefollowing steps may be performed: a machine learning step, comprisingperforming machine learning using a set of training samples to obtain amachine learning model, wherein each of the training samples isrepresented by a multi-dimensional feature vector forming an input spaceand a decision result forming an output space, wherein each dimension ofthe multi-dimensional feature vector is a variable describing a state ofthe vehicle at a particular moment and related to speed planning, andwherein the decision result indicates an expected speed at a next momentand/or a control parameter value related to speed control; a partitiondecision table obtaining step, comprising: partitioning the input space,and obtaining a decision result corresponding to a determined partitionbased on the obtained machine learning model to form a partitiondecision table that maps each partition to its corresponding decisionresult; and a real-time decision-making step, comprising: obtaining eachdimensional feature vector of the vehicle while driving in real time asan input feature, determining an input partition to which the inputfeature belongs, and querying the partition decision table based on thedetermined partition to obtain a decision result corresponding to theinput feature.

Optionally, when the computer executable instruction set is executed bythe processor, the following step may also be performed: a real-timecontrol step, comprising: issuing a control command to the vehicle basedon the obtained decision result to control the speed of the vehicle.

It should be noted that the vehicle in the description should beunderstood in a broad sense, including various large, medium and smallvehicles, water vehicles, etc.

It should be noted that the steps of the method may be performed locallyin the vehicle, in the cloud, or both locally and in the cloud, and therelevant data may also be stored locally, or in the cloud, or bothlocally and in the cloud.

The embodiments of the present disclosure have been described above,which are examples and are not exhaustive, and are not limited to thedisclosure. Many modifications and changes may be apparent to thoseskilled in the art without departing from the scope and spirit of theembodiments described. Therefore, the scope of the present disclosureshall be defined by the scope of the claims.

1. A method of speed planning for automatic driving of a vehicle,comprising: a machine learning step, comprising: performing machinelearning using a set of training samples to obtain a machine learningmodel, wherein each of the training samples is represented by amulti-dimensional feature vector forming an input space and a decisionresult forming an output space, wherein each dimension of themulti-dimensional feature vector is a variable describing a state of thevehicle at a particular moment, wherein the variable is related to speedplanning, and wherein the decision result indicates at least one of anexpected speed at a next moment or a control parameter value related tospeed control; a partition decision table obtaining step, comprising:partitioning the input space, and obtaining a decision resultcorresponding to a determined partition based on the obtained machinelearning model to form a partition decision table that maps each of thepartitions to its corresponding decision result; and a real-timedecision-making step, comprising: obtaining each dimensional featurevector of the vehicle while driving in real time as an input feature,determining an input partition to which the input feature belongs, andquerying the partition decision table based on the determined partitionto obtain a corresponding decision result.
 2. The method according toclaim 1, further comprising: a real-time control step, comprising:issuing a control command to the vehicle based on the obtained decisionresult to control a speed of the vehicle.
 3. The method according toclaim 1, further comprising: adjusting a partition decision result ofthe partition when the partition decision result of the determinedpartition is determined as not conforming to an expectation.
 4. Themethod according to claim 3, wherein adjusting the partition decisionresult of the partition comprises at least one of: adjusting thepartition decision result of the partition according to experience; oradjusting the partition decision result of the partition by learning thepartition using a machine learning method.
 5. The method according toclaim 1, wherein each dimensional feature vector comprises: a currentspeed, a distance from a front vehicle, a relative speed with respect tothe front vehicle, and a maximum speed.
 6. The method according to claim1, further comprising coding a feature space using a discrete codingmethod before the machine learning step.
 7. The method according toclaim 6, wherein the partition decision table obtaining step comprises:calculating a size of a space corresponding to a discrete coding resultobtained using the discrete coding method; when the size of the space isgreater than a determined threshold, using a dynamic storage method tostore the partition decision table, traversing only inputs of a trainingspace, storing an output result of a corresponding decision model, andstoring the trained decision model for backup besides the partitiondecision table; and when the size of the space is smaller than thedetermined threshold, using a static storage method to store thepartition decision table, traversing all code spaces, and storing theoutput result of the decision model.
 8. The method according to claim 7,wherein the real-time decision-making step comprises: performingdiscrete coding on the input feature using the discrete coding method;using an obtained discrete coding result as an index of the partitiondecision table, when the partition decision table is stored using thestatic storage method, directly obtaining the decision result stored inthe partition decision table; and decision table, and when the partitiondecision table is stored using the dynamic storage method, if thedecision result of the discrete coding result is stored in the partitiondecision table, directly obtaining the decision result from thepartition decision table; and if the decision result of the discretecoding result is not stored in the partition decision table, using thestored decision model to obtain a decision result, and adding theobtained decision result to the partition decision table.
 9. The methodaccording to claim 6, wherein two inputs belong to the same partition aslong as final discrete codes of the two inputs are identical.
 10. Themethod according to claim 6, wherein the discrete coding method is acoarse coding method.
 11. The method according to claim 3, furthercomprising: determining the number of partitions to which the partitiondecision result is adjusted, and re-executing the machine learning stepand the partition decision table obtaining step when the number ofpartitions exceeds a predetermined threshold.
 12. A speed planningapparatus for automatic driving of a vehicle, comprising: a machinelearning unit configured to use a set of training samples to performmachine learning to obtain a machine learning model, wherein each of thetraining samples is represented by a multi-dimensional feature vectorforming an input space and a decision result forming an output space,wherein each dimension of the multi-dimensional feature vector is avariable describing a state of the vehicle at a particular moment,wherein the variable is related to speed planning, and wherein thedecision result indicates at least one of an expected speed at a nextmoment or a control parameter value related to speed control; apartition decision table obtaining unit configured to partition theinput space, and obtain a decision result corresponding to a determinedpartition based on the obtained machine learning model to form apartition decision table that maps each of the partitions to itscorresponding decision result; and a real-time decision-making unitconfigured to obtain each dimensional feature vector of the vehicle inreal time while driving as an input feature, determine an inputpartition to which the input feature belongs, and query the partitiondecision table based on the determined partition to obtain acorresponding decision result.
 13. The speed planning apparatus of claim12, further comprising: a real-time control unit configured to issue acontrol command to the vehicle based on the obtained decision result tocontrol the speed of the vehicle.
 14. The speed planning apparatus ofclaim 12, further comprising: a local partition decision adjustment unitconfigured to adjust a partition decision result of the partition whenthe partition decision result of the determined partition is determinedas not conforming to an expectation.
 15. The speed planning apparatusaccording to claim 14, wherein adjusting the partition decision resultof the partition comprises at least one of: adjusting the partitiondecision result of the partition according to experience; or adjustingthe partition decision result of the partition by learning the partitionwith a machine learning method.
 16. The speed planning apparatusaccording to claim 12, wherein each dimensional feature vectorcomprises: a current speed, a distance from a front vehicle, a relativespeed with respect to the front vehicle and a maximum speed.
 17. Thespeed planning apparatus according to claim 12, further comprising: adiscrete coding unit configured to perform discrete coding on thetraining samples and the input feature at the real-time decision stage.18. The speed planning apparatus according to claim 17, wherein thepartition decision table obtaining unit is configured to: calculate asize of a space corresponding to a discrete coding result obtained bythe discrete coding method; when the size of the space is greater than adetermined threshold, use a dynamic storage method to store thepartition decision table, traverse only an input of a training space,store an output result of the corresponding decision model, and storethe trained decision model for backup; and when the space is smallerthan the determined threshold, use a static storage method to store thepartition decision table, traverse all code spaces, and store the outputresult of the decision model.
 19. The speed planning apparatus accordingto claim 18, wherein the real-time decision-making unit is configuredto: perform discrete coding on the input feature using the discretecoding method; use an obtained discrete coding result as an index of thepartition decision table, and when the partition decision table isstored using the static storage method, directly obtain the decisionresult stored in the partition decision table; use the obtained discretecoding result as an index of the partition decision table, and when thepartition decision table is stored using the dynamic storage method, ifthe decision result of the discrete coding result is stored in thepartition decision table, directly obtain the decision result from thepartition decision table; and if the decision result of the discretecoding result is not stored in the partition decision table, use thestored decision model to obtain a decision result, and add the obtaineddecision result to the partition decision table. 20-22. (canceled)
 23. Acalculating apparatus for speed planning of automatic driving of avehicle, comprising a storage component and a processor, wherein thestorage component stores a computer executable instruction set that,when executed by the processor, cause the processor to perform: amachine learning step, comprising: performing machine learning using aset of training samples to obtain a machine learning model, wherein eachtraining sample is represented by a multi-dimensional feature vectorforming an input space and a decision result forming an output space,wherein each dimension of the multi-dimensional feature vector is avariable describing a state of the vehicle at a particular moment,wherein the variable is related to speed planning, and wherein thedecision result indicates at least one of an expected speed at a nextmoment or a control parameter value related to speed control; apartition decision table obtaining step, comprising: partitioning theinput space, and obtaining a decision result corresponding to adetermined partition based on the obtained machine learning model toform a partition decision table that maps each of the partitions to itscorresponding decision result; a real-time decision-making step,comprising: obtaining each dimensional feature vector of the vehiclewhile driving in real time as an input feature, determining an inputpartition to which the input feature belongs, and querying the partitiondecision table based on the determined partition to obtain acorresponding decision result; and a real-time control step, comprising:issuing a control command to the vehicle based on the obtained decisionresult to control a speed of the vehicle.